Well, that took forever to upload

Next up is to copy that code for 3 legs, and reverse it for the other 3. (For the Tripod gait)

CORRECTION: In the video, I had the jumper ON, but then it shorts out the computer (they have protection for that and you have to restart it). If the jumper is off I found, it works just fine with the computer, and allows you to use a battery.